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thankyou, for the question and answer been going around in circles for some time on the same issues.

Seems that many are on the same path. I'm having trouble piecing the stages required to gmapping from video.

video, point cloud to laser scan

you need to create point clouds from the video stream, and then convert pointcloud to laserscan message type for gmapping gslam

I know that vslam creates a point cloud, and that eg from the Konnect there is a nodelette that works with a frame throttler to convert point_cloud to laser_scan nodelettes and there seems to be some variations,

In the elektron stack/packages there is a variant launch file with filters for depth (range) etc.

There seems to be a fair amount of remapping and it does not make much sense...

Hope that helps a bit

Dave